EP3468898B1 - Order-picking system with a transport robot for passing beneath individual racks and transport trolley - Google Patents

Order-picking system with a transport robot for passing beneath individual racks and transport trolley Download PDF

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Publication number
EP3468898B1
EP3468898B1 EP17733342.4A EP17733342A EP3468898B1 EP 3468898 B1 EP3468898 B1 EP 3468898B1 EP 17733342 A EP17733342 A EP 17733342A EP 3468898 B1 EP3468898 B1 EP 3468898B1
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EP
European Patent Office
Prior art keywords
picking
transport
order
racking
individual rack
Prior art date
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Active
Application number
EP17733342.4A
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German (de)
French (fr)
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EP3468898A1 (en
Inventor
Franz Mathi
Anton Tschurwald
Gregor Lebernegg
Wolfrum HOFBAUER
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Knapp AG
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Knapp AG
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Publication of EP3468898A1 publication Critical patent/EP3468898A1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0457—Storage devices mechanical with suspended load carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B65G1/07—Storage devices mechanical with means for presenting articles for removal at predetermined position or level the upper article of a pile being always presented at the same predetermined level
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2209/00—Indexing codes relating to order picking devices in General
    • B65G2209/08—Orders with a high and a low volume
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2209/00—Indexing codes relating to order picking devices in General
    • B65G2209/10—Partial order forming

Definitions

  • the invention relates to a picking system for picking articles stored in a rack storage in conveyor bags with a plurality of rack storage locations of the rack storage arranged in rows and / or shelf levels for storing the articles and with a hanging conveyor technology for transporting conveyor bags and with a picking station according to the goods -Person principle, on which a number of articles predetermined by a control computer can be picked in conveyor bags.
  • the document DE 10 2011 116 081 B3 discloses such a picking system and picking method in which a storage container conveyor technology transports storage containers into the work area of a picking person, whereupon the number of articles specified by a control device are removed from the storage container by the picking person and placed in conveyor bags of a picking order.
  • a hanging conveyor system transports the conveyor bags into which items have been picked by the picking person. Batch picking can be carried out, in which articles from several orders are placed in a conveyor bag. In a subsequent buffer and sorting area, the conveyor bags are temporarily stored and / or placed in the correct order in order to pack the articles in a subsequent packing station in one order container per order.
  • Batch picking has the advantage that the storage container conveyor technology is relieved, since the storage container of a certain type of article does not have to be removed and put back in again after picking, but immediately several articles of this type can be removed for several orders and picked as a "batch" in a conveyor bag.
  • This known order-picking system has proven to be disadvantageous in that, despite batch picking, the storage container conveyor technology represents a bottleneck for the number of picking stations to which storage containers with articles to be picked have to be transported in parallel. Especially for so-called fast-moving articles, the storage containers very often have to be removed from the rack warehouse and put into storage again, which can mean a delay for other picking stations that need the same fast-moving article for picking.
  • a fixed conveyor technology has several disadvantages. Not only is it expensive to manufacture, it is also rigid and poorly scalable for current needs. It must be designed for the maximum power required, but in practice it is only used to a small percentage over a wide period of time. If the layout of the picking system is to be changed, for example to include additional picking stations, then larger and costly modifications are usually necessary.
  • the invention has for its object to provide a picking system in which the above disadvantages are avoided.
  • the task is solved with the picking system according to claim 1 and the picking method according to claim 10.
  • shelf storage is modularly formed by individual shelves lined up next to one another, any individual shelf containing an article to be picked can be transported out of the row of individual shelves at any time.
  • at least one transport robot controlled or controlled autonomously by a control computer of the order-picking system is provided, which is designed small enough to drive under the individual shelf. It is also particularly advantageous that n different items can be transported and made available on a single shelf according to customer requirements.
  • a laser scanner that scans the surroundings of the transport robot, for example at an opening angle of 270 degrees and a repetition frequency of, for example, 12 Hz, in order to recognize objects that could be in the transport path and to determine the transport direction to support.
  • the transport robot in a learning mode can have the layout of the shelf warehouse, that is to say the positions and dimensions of objects such as stands of the warehouse, walls and doors, and saved.
  • This position information can then be used to determine the transport direction in order to travel along the individual rack transport routes.
  • the transport robot can be transported along the individual rack transport routes manually or by motor.
  • the resulting scanned image of objects next to the individual shelf transport routes can be manually improved on the computer of the control unit, for example in order to delete the operator's feet that are in the way during the travel in the learning mode.
  • This position information can then be transmitted to all transport robots in the picking system.
  • the learning mode could be dispensed with and the layout of the picking system with its individual rack transport routes could be imported from the control computer directly into the transport robot and stored there.
  • Figure 1 shows a single shelf 1 of a shelf warehouse, which consists of a plurality of such side by side and one behind the other arranged shelves 1 and is provided for storing items 2.
  • the individual shelf 1 has rollers 3 on the feet of the individual shelf 1 in order to roll the individual shelf 1 along the floor without a particularly large amount of energy.
  • a transport robot 4 can be seen, which is electrically driven and has a control unit which is controlled by a control computer of the in Figure 2 order picking system 5 is controlled.
  • Such transport robots 4 are sold, for example, by the company Kiva or Swisslog, the transport robot 4 having special features according to the invention.
  • the transport robot 4 does not lift the individual shelf 1, but rather rolls it with its rollers 3 along the floor, which makes the transport robot 4 technically simple and uses less energy than if it had to lift each individual shelf 1 to be transported from the floor.
  • the transport robot 4 also has a laser scanner 6, which scans objects located at an opening angle 7 in order to avoid possible collisions with these objects.
  • the transport robot 4 can have further sensors in order to improve the navigation within the order-picking system 5. For this purpose, it can have a gyroscope for determining the position of the transport robot 4.
  • the transport robot 4 can also have a reflector detector for the detection of reflectors on objects such as storage shelves or walls.
  • the transport robot 4 can also have an RFID reader for detecting RFID tags on objects or in the floor.
  • RFID tags can be used to identify individual rack transport routes 8 which are provided for the transport of individual shelves 1 by transport robots 4.
  • the transport robot 4 can furthermore have a barcode scanner for the detection of barcodes on objects or individual rack transport routes 8.
  • the transport robot 4 can furthermore have an indoor GPS for determining the position or use a WLAN network in the rack store for WLAN triangulation.
  • the transport robot 4 can also use odometry to detect the change in position based on wheel revolutions of the transport robot 4. All these sensors enable the transport robot 4 of the order-picking system 5 to transport individual shelves 1 between the rack store and order-picking stations 9 without collisions with objects or people.
  • the transport robot 4 also has an emergency stop safety system which always stops the transport robot 4 when an object or a person is unexpectedly detected in a safety area around the transport robot 4.
  • the security area can be monitored, for example, by the laser scanner 6 and can encompass an area of 50 centimeters in front of the transport robot 4 in the transport direction.
  • the security area could also be only 30 centimeters or one meter in size. This ensures that there can be no collisions.
  • the transport robot 4 is now further configured in a learning mode to learn the position and extent of objects along the individual rack transport routes 8 by measuring with the laser scanner 6 and storing the measurement results.
  • the transport robot 4 is manually moved by an operator along the individual rack transport routes, the laser scanner 6 determining position information, as is exemplified in FIG Figure 3 are shown.
  • Each point in the top view of a part of the order-picking system 5 shows the position information determined by the laser scanner 6. Here you can see walls and other objects. If, in the learning mode, objects have been measured by the laser scanner 6 that are not permanently present in the order-picking system 5, such as legs of the operator, this position information can be deleted again on a computer of the control computer of the order-picking system 5.
  • the corrected position information that a The control computer of the order-picking system 5 then transmits an image of the layout of the order-picking system 5 and, in particular, the surroundings of the individual rack transport routes 8 to the control units provided in the transport robots 4.
  • This has the advantage that each transport robot 4 has precise position information available for the transport of individual shelves along individual rack transport routes 8 between the rack warehouse and the picking stations 9.
  • FIG. 2 now shows several picking stations 9 of the picking system 5 with individual shelves 1 in an oblique view.
  • the individual shelves 1 were transported by transport robots 4 from a shelf warehouse via individual shelf transport routes 8 to the picking stations 9.
  • a overhead conveyor technology 10 is also provided for the removal of conveyor bags 11.
  • the control computer is also designed to carry out batch picking in order to initially pick articles 2 of several orders into only one conveyor bag 11. The articles 2 are then assigned to the individual orders at a downstream sorting and packing station, placed in order containers and dispatched.
  • the provision of the transport robots 4 in order to get entire individual racks 1 from the rack store, in combination with batch picking in containers and in particular in conveyor bags 11, has the advantage that particularly few transports between the rack store and the picking station 9 have to take place.
  • Classic storage container conveyor technology can be dispensed with entirely, which saves costs and achieves a high degree of flexibility. This is particularly so because new or modified individual rack transport routes 8 can be determined quite easily at any time.
  • a special guidance of the overhead conveyor technology 10 and the individual rack transport routes 8 ensures that individual rack transport routes 8 are guided in sections under the overhead conveyor technology 10, whereby the space in the order-picking system 5 is used in a particularly space-saving manner.
  • order picking stations 9 are connected to one another with individual rack transport routes 8, whereby individual bookshelves 1 also go directly from one order picking station 9 to another order picking station 9 can be transported if an article 2 from the single shelf 1 is needed there for picking. This enables picking to be carried out particularly efficiently and in a time-saving manner.
  • FIG 4 shows a picking system 14 according to a further exemplary embodiment of the invention, whereby in comparison to the picking system 5 according to Figure 2 in addition to each picking station 15, belt conveyors 16 for the delivery and removal of order container crates 17 with picked articles 2 are provided.
  • This has the advantage that the picking stations 15 can be picked in parallel or in succession both in conveyor bags 11 and in order container crates 17. As a result, batch picking and order picking can be carried out in parallel in conveyor bags 11 and / or order container boxes 17.
  • the transport robot could also transport individual shelves autonomously and not directly controlled by the control computer in the picking system.
  • the control robot would only transmit a list of individual shelves and picking stations to the transport robot, to which the individual shelves are to be transported. The transport robot could then plan and carry out the necessary transports autonomously.
  • the individual shelves have no rollers on the feet, which is why the transport robots have lifting technology in order to lift individual shelves slightly off the floor and only then to transport them.
  • This exemplary embodiment ensures that the individual shelves are always reliably in their position.
  • the order-picking system and the order-picking method are designed for pre-commissioning articles into one or more transport trolleys.
  • the individual shelves containing articles to be picked are transported to the picking station, which does not have to be done according to this exemplary embodiment, since only those articles which are actually to be picked at the picking station are transported with the transport trolley. Dolly have an area can be placed in the article and pre-picked or batch picked.
  • Spring-loaded trolleys known per se to the person skilled in the art can be used particularly advantageously as transport trolleys in which articles are placed on a floor pushed up by a spring, as shown in Figure 5 you can see.
  • the floor lowers when several or heavier articles have been placed in the spring-loaded trolley, which means that additional articles can be placed ergonomically without bending down on the articles already in the spring-loaded trolley. As a result, the volume of the articles transported by the trolley can be increased significantly.
  • the transport trolleys themselves have no drive, but can be driven under by a transport robot, which can then transport the transport trolley along the individual rack transport routes.
  • the control computer is designed to transport an empty transport trolley or a transport trolley already containing pre-picked articles to the rack storage locations in the rack warehouse in which articles to be picked are stored.
  • the control computer is to be understood as the computer controlling the entire shelf warehouse including the picking stations as well as the computer provided in the individual transport trolleys.
  • the pre-commissioning of these articles from the shelf storage space into the transport trolley can be done manually by an order picker or mechanically by a robot arm.
  • the robot arm could be arranged on the transport robot, the transport trolley or at another location on the rack storage.
  • the transport trolley containing the pre-picked articles is transported by a transport robot, controlled by the control computer, to the picking station at which the pre-picked articles in the transport trolley are to be picked into order containers and / or conveyor bags.
  • Articles for a picking order can be transported from one or more transport trolleys to the picking station.
  • a transport trolley can also pre-pick articles for two or more picking stations, which is why the transport trolley is transported to the other picking station after the articles removed from the picking station at one picking station. After removing all pre-picked articles from the transport trolley and picking the articles at the picking station, the empty transport trolleys can be used for further pre-commissioning orders.
  • transport trolleys has the advantage that the entire individual rack does not have to be transported to the picking station, which represents a considerable load and energy expenditure for the transport robot.
  • this task can be carried out in parallel by several transport trolleys and does not have to be waited for at a picking station until the individual shelf is ready this item is no longer required at another picking station. This can significantly increase the throughput of picking orders.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Warehouses Or Storage Devices (AREA)

Description

Die Erfindung betrifft ein Kommissioniersystem zum Kommissionieren von in einem Regallager gelagerten Artikeln in Fördertaschen mit einer Mehrzahl an in Regalreihen und/oder Regalebenen angeordneten Regallagerplätzen des Regallagers zum Lagern der Artikel und mit einer Hängefördertechnik zum Transport von Fördertaschen und mit einem Kommissionierplatz gemäß dem Ware-zu-Person-Prinzip, an dem eine von einem Steuerrechner vorgegebene Anzahl von Artikeln in Fördertaschen kommissionierbar ist.The invention relates to a picking system for picking articles stored in a rack storage in conveyor bags with a plurality of rack storage locations of the rack storage arranged in rows and / or shelf levels for storing the articles and with a hanging conveyor technology for transporting conveyor bags and with a picking station according to the goods -Person principle, on which a number of articles predetermined by a control computer can be picked in conveyor bags.

Die Erfindung betrifft weiters ein Kommissionierverfahren zum Kommissionieren von in einem Regallager gelagerten Artikeln in Fördertaschen mit einem Steuerrechner zum Abarbeiten von Kommissionieraufträgen, der das Kommissionieren an zumindest einem Kommissionierplatz gemäß folgenden Verfahrensschritten vorgibt:

  • Transport eines für einen Kommissionierauftrag benötigten Artikels von dem Regallager zu dem Kommissionierplatz;
  • Kommissionieren der für den Kommissionierauftrag benötigten Anzahl an Artikeln in die dem zumindest einen Kommissionierauftrag zugeordneten Fördertaschen an dem Kommissionierplatz.
The invention further relates to a picking method for picking articles stored in a rack storage in conveyor bags with a control computer for processing picking orders, which specifies picking at at least one picking station according to the following method steps:
  • Transportation of an article required for a picking order from the rack storage to the picking station;
  • Picking the number of articles required for the picking order into the conveyor bags assigned to the at least one picking order at the picking station.

Das Dokument DE 10 2011 116 081 B3 offenbart ein solches Kommissioniersystem und Kommissionierverfahren, bei dem eine Lagerbehälterfördertechnik Lagerbehälter in den Arbeitsbereich einer Kommissionierperson transportiert, worauf die von einer Steuereinrichtung angegebene Anzahl an Artikeln von der Kommissionierperson aus dem Lagerbehälter entnommen und in Fördertaschen eines Kommissionierauftrags gelegt werden. Eine Hängefördertechnik transportiert die Fördertaschen ab, in die von der Kommissionierperson Artikel kommissioniert wurden. Hierbei kann eine Batchkommissionierung durchgeführt werden, bei der Artikel mehrerer Aufträge in eine Fördertasche gelegt werden. In einem anschließenden Puffer- und Sortierbereich werden die Fördertaschen zwischengespeichert und/oder in die richtige Reihenfolge gebracht, um die Artikel in einer anschließenden Packstation in je einen Auftragsbehälter je Auftrag zu packen. Die Batchkommissionierung hat den Vorteil, dass die Lagerbehälterfördertechnik entlastet wird, da der Lagerbehälter einer bestimmten Art eines Artikels nicht jedes Mal aus- und nach der Kommissionierung wieder eingelagert werden muss, sondern gleich mehrere Artikel dieser Art für mehrere Aufträge entnommen und als "Batch" in eine Fördertasche kommissioniert werden können.The document DE 10 2011 116 081 B3 discloses such a picking system and picking method in which a storage container conveyor technology transports storage containers into the work area of a picking person, whereupon the number of articles specified by a control device are removed from the storage container by the picking person and placed in conveyor bags of a picking order. A hanging conveyor system transports the conveyor bags into which items have been picked by the picking person. Batch picking can be carried out, in which articles from several orders are placed in a conveyor bag. In a subsequent buffer and sorting area, the conveyor bags are temporarily stored and / or placed in the correct order in order to pack the articles in a subsequent packing station in one order container per order. Batch picking has the advantage that the storage container conveyor technology is relieved, since the storage container of a certain type of article does not have to be removed and put back in again after picking, but immediately several articles of this type can be removed for several orders and picked as a "batch" in a conveyor bag.

Bei diesem bekannten Kommissioniersystem hat sich als Nachteil erwiesen, dass die Lagerbehälterfördertechnik, trotz Batchkommissionierung ein Nadelöhr für die Anzahl an Kommissionierplätzen darstellt, zu denen parallel Lagerbehälter mit zu kommissionierenden Artikeln transportiert werden müssen. Insbesondere für sogenannte schnelldrehende Artikel müssen die Lagerbehälter sehr oft aus dem Regallager ausgelagert und neuerlich eingelagert werden, was eine Verzögerung für anderen Kommissionierplätze bedeuten kann, die den gleichen schnelldrehenden Artikel zum Kommissionieren benötigt.This known order-picking system has proven to be disadvantageous in that, despite batch picking, the storage container conveyor technology represents a bottleneck for the number of picking stations to which storage containers with articles to be picked have to be transported in parallel. Especially for so-called fast-moving articles, the storage containers very often have to be removed from the rack warehouse and put into storage again, which can mean a delay for other picking stations that need the same fast-moving article for picking.

Weiters weist eine fix verbaute Fördertechnik mehrere Nachteile auf. Sie ist nicht nur kostenintensiv bei der Herstellung sonder auch starr und schlecht für den aktuellen Bedarf skalierbar. Sie muss auf die maximal benötigte Leistung ausgelegt werden, wird dann in der Praxis aber über weite Zeitbereiche nur zu einem geringen Prozentsatz ausgelastet. Wenn das Layout des Kommissioniersystems geändert werden soll, um beispielsweise weitere Kommissionierplätze einzubinden, dann sind meist größere und kostenintensive Umbauten nötig.Furthermore, a fixed conveyor technology has several disadvantages. Not only is it expensive to manufacture, it is also rigid and poorly scalable for current needs. It must be designed for the maximum power required, but in practice it is only used to a small percentage over a wide period of time. If the layout of the picking system is to be changed, for example to include additional picking stations, then larger and costly modifications are usually necessary.

Aus dem Dokument AT 14694 U1 ist ein Kommissionierplatz zum Kommissionieren von Artikeln in Auftragsbehälter und Fördertaschen bekannt.From the document AT 14694 U1 a picking station for picking articles in order containers and conveyor bags is known.

Aus dem Dokument US 2014/0100769 A1 ist ein System zum Wiederauffüllen von Verkaufseinrichtungen bekannt.From the document US 2014/0100769 A1 a system for refilling sales facilities is known.

Der Erfindung liegt die Aufgabe zugrunde ein Kommissioniersystem zu schaffen, bei dem die vorstehenden Nachteile vermieden sind. Die Aufgabe wird mit dem Kommissioniersystem gemäß Anspruch 1 sowie dem Kommissionierverfahren gemäß Anspruch 10 gelöst.The invention has for its object to provide a picking system in which the above disadvantages are avoided. The task is solved with the picking system according to claim 1 and the picking method according to claim 10.

Hierdurch ist der Vorteil erhalten, dass auf eine klassische Lagerbehälterfördertechnik zum Auslagern von Lagerbehältern und zum Transport der Lagerbehälter von dem Regallager zu dem Kommissionierplatz verzichtet werden kann. Gegebenenfalls kann sogar auf das Vorsehen von Lagerbehältern gänzlich verzichtet werden, da ja das gesamte Einzelregal transportiert wird. Dadurch, dass das Regallager modular durch aneinander gereihte Einzelregale gebildet ist, kann jederzeit ein beliebiges einen zu kommissionierenden Artikel enthaltendes Einzelregal aus der Reihe der Einzelregale heraustransportiert werden. Hierfür ist zumindest ein durch einen Steuerrechner des Kommissioniersystems gesteuerter oder autonom fahrender Transportroboter vorgesehen, der klein genug ausgebildet ist, um unter das Einzelregal zu fahren. Besonders vorteilhaft ist weiters, dass auf einem Einzelregal kundenspezifisch n verschiedene Artikel transportiert und gleichzeitig bereit gestellt werden können. Änderungen des Layouts und Erweiterungen sind wesentlich einfacher zu bewerkstelligen, da nur andere Punkte im Layout vorgegeben werden bzw. Transportroboter hinzugefügt werden. Auch das Anbinden von neuen Kommissionierplätzen ist bei einem erfindungsgemäßen Kommissioniersystem besonders einfach durchführbar. Die Transportleistung muss nicht fix im Vorfeld festgelegt werden, da zeitweiliges hinzufügen von Transportrobotern zu einer Erhöhung der Transportleistung führt.This has the advantage that there is no need for classic storage container conveying technology for removing storage containers and for transporting the storage containers from the rack storage to the picking station. If necessary, storage containers can even be dispensed with entirely, since the entire individual rack is transported. Because the shelf storage is modularly formed by individual shelves lined up next to one another, any individual shelf containing an article to be picked can be transported out of the row of individual shelves at any time. For this purpose, at least one transport robot controlled or controlled autonomously by a control computer of the order-picking system is provided, which is designed small enough to drive under the individual shelf. It is also particularly advantageous that n different items can be transported and made available on a single shelf according to customer requirements. Changes to the layout and extensions are much easier to accomplish, since only other points in the layout are specified or transport robots are added. The connection of new picking stations is also particularly easy to carry out in a picking system according to the invention. The transport performance does not have to be fixed in advance, as the temporary addition of transport robots leads to an increase in the transport performance.

Es kann erwähnt werden, dass solche Transportroboter zum Transport von Einzelregalen beispielsweise von der Firma Kiva oder Swisslog verkauft werden. Es sind Kommissioniersysteme bekannt, bei denen diese Transportroboter die Einzelregale aus dem Regallager zu dem Ware-zu-Person Kommissionierplatz transportieren, wobei Artikel ausschließlich von den Einzelregalen des Regallagers in andere Regale kommissioniert werden. Obwohl diese Transportroboter schon seit Jahren am Markt erhältlich sind hat jedoch keiner der mit diesen Technologien vertrauten Fachleuten die erfindungsgemäße Kombination des Transports von Einzelregalen zu einem Ware-zu-Mann Kommissionierplatz geschaffen, an dem Batchkommissionierung in Fördertaschen erfolgt. Nur durch diese erfindungsgemäße Kombination an sich bekannter Maßnahmen ist ein effektives Kommissioniersystem und Kommissionierverfahren mit besonders wenigen Transportfahrten zwischen dem Regallager und dem Kommissionierplatz ermöglicht.It can be mentioned that such transport robots for the transport of individual shelves are sold by the company Kiva or Swisslog, for example. Picking systems are known in which these transport robots transport the individual shelves from the shelf warehouse to the goods-to-person picking station, articles being picked exclusively from the individual shelves of the shelf warehouse to other shelves. Although these transport robots have been available on the market for years, none of the experts familiar with these technologies has created the combination according to the invention of transporting individual shelves to a goods-to-man picking station, where batch picking takes place in conveyor bags. An effective picking system and picking method with particularly few transport journeys between the rack storage and the picking station is only possible through this combination of measures known per se.

Erfindungsgemäß ist es Einzelregaltransportwege in dem Kommissioniersystem festzulegen, entlang der die Transportroboter die Einzelregale transportieren können ohne an Objekten anzustoßen oder mit anderen Transportrobotern zu kollidieren. Diese Einzelregaltransportwege können auch in bestimmten Abschnitten unter der Hängefördertechnik durchgeführt werden, um möglichst kurze Einzelregaltransportwege zu schaffen. Besonders vorteilhaft ist es Einzelregaltransportwege zwischen Kommissionierplätzen vorzusehen, um Einzelregale mit zuerst bei einem Kommissionierplatz und später bei dem anderen Kommissionierplatz zum Kommissionieren benötigten Artikeln nicht über das Regallager sondern direkt zu transportieren.According to the invention, it is necessary to define individual rack transport routes in the picking system along which the transport robots can transport the individual shelves without bumping into objects or colliding with other transport robots. These Single shelf transport routes can also be carried out in certain sections under the overhead conveyor technology in order to create the shortest possible single shelf transport routes. It is particularly advantageous to provide individual rack transport routes between picking stations in order to transport individual shelves with articles required for picking first at one picking station and later at the other picking station rather than directly via the rack warehouse.

Besonders vorteilhaft ist es die Transportroboter mit einem Laserscanner auszurüsten, der beispielsweise in einem Öffnungswinkel von 270 Grad und einer Wiederholfrequenz von beispielsweise 12Hz die Umgebung des Transportroboters abscannt, um Objekte, die sich im Transportweg befinden könnten, zu erkennen und, um die Festlegung der Transportrichtung zu unterstützen. Hierdurch ist eine besonders zuverlässige und kostengünstige Steuerungseinheit erhalten, um Objekte zu detektieren und Kollisionen mit diesen Objekten zu vermeiden.It is particularly advantageous to equip the transport robot with a laser scanner that scans the surroundings of the transport robot, for example at an opening angle of 270 degrees and a repetition frequency of, for example, 12 Hz, in order to recognize objects that could be in the transport path and to determine the transport direction to support. This provides a particularly reliable and inexpensive control unit in order to detect objects and to avoid collisions with these objects.

Vorteilhaft ist weiters dem Transportroboter in einem Lernmodus das Layout des Regallagers, also die Positionen und Ausdehnungen von Objekten, wie Stehern der Lagerhalle, Wände oder Türen abscannen und speichern zu lassen. Diese Positionsinformationen können dann für die Festlegung der Transportrichtung genutzt werden, um entlang der Einzelregaltransportwege zu fahren. In diesem Lernmodus kann der Transportroboter manuell mit der Hand oder auch motorisch angetrieben entlang den Einzelregaltransportwegen transportiert werden. Das sich daraus ergebende gescannte Abbild von Objekten neben den Einzelregaltransportwegen kann manuell am Computer der Steuerungseinheit nachgebessert werden, um beispielsweise sich bei der Fahrt im Lernmodus im Weg befindliche Füße der Bedienperson wieder zu löschen. Anschließend können diese Positionsinformationen an alle Transportroboter des Kommissioniersystems übertragen werden. Gemäß einer weiteren Ausführungsvariante könnte auf den Lernmodus verzichtet werden und das Layout des Kommissioniersystems mit seinen Einzelregaltransportwegen vom Steuerrechner direkt in die Transportroboter eingespielt und dort gespeichert werden.It is also advantageous for the transport robot in a learning mode to have the layout of the shelf warehouse, that is to say the positions and dimensions of objects such as stands of the warehouse, walls and doors, and saved. This position information can then be used to determine the transport direction in order to travel along the individual rack transport routes. In this learning mode, the transport robot can be transported along the individual rack transport routes manually or by motor. The resulting scanned image of objects next to the individual shelf transport routes can be manually improved on the computer of the control unit, for example in order to delete the operator's feet that are in the way during the travel in the learning mode. This position information can then be transmitted to all transport robots in the picking system. According to a further embodiment variant, the learning mode could be dispensed with and the layout of the picking system with its individual rack transport routes could be imported from the control computer directly into the transport robot and stored there.

Weitere vorteilhafte Ausgestaltungen des erfindungsgemäßen Kommissioniersystems und Kommissionierverfahrens werden im Folgenden anhand der Figuren näher erläutert.

  • Figur 1 zeigt ein Einzelregal unter dem ein Transportroboter steht.
  • Figur 2 zeigt mehrere Kommissionierplätze mit von Transportrobotern aus einem Regallager transportierten Einzelregalen und mit einer Hängefördertechnik zum Abtransport von Fördertaschen mit kommissionierten Artikeln in einer Schrägansicht.
  • Figur 3 zeigt die von einem Transportroboter in einem Lernmodus gespeicherten Positionsinformationen.
  • Figur 4 zeigt mehrere Kommissionierplätze mit von Transportrobotern aus einem Regallager transportierten Einzelregalen und mit einer Hängefördertechnik zum Abtransport von Fördertaschen mit kommissionierten Artikeln und mit einem Bandförderer zum Abtransport von Auftragsbehälterkisten mit kommissionierten Artikeln in einer Schrägansicht.
  • Figur 5 zeigt einen Transportwagen in Form eines Federbodenwagens.
Further advantageous embodiments of the picking system and picking method according to the invention are explained in more detail below with reference to the figures.
  • Figure 1 shows a single shelf under which a transport robot stands.
  • Figure 2 shows several picking stations with individual racks transported by transport robots from a rack storage and with a hanging conveyor technology for the removal of conveyor bags with picked articles in an oblique view.
  • Figure 3 shows the position information stored by a transport robot in a learning mode.
  • Figure 4 shows several picking stations with individual shelves transported by transport robots from a rack warehouse and with a hanging conveyor technology for the removal of conveyor bags with picked articles and with a belt conveyor for the removal of order container boxes with picked articles in an oblique view.
  • Figure 5 shows a trolley in the form of a spring-loaded trolley.

Figur 1 zeigt ein Einzelregal 1 eines Regallagers, das aus einer Vielzahl solcher nebeneinander und hintereinander angeordneter Einzelregale 1 besteht und zum Lagern von Artikeln 2 vorgesehen ist. Das Einzelregal 1 weist Rollen 3 an den Füßen des Einzelregals 1 auf, um das Einzelregal 1 ohne besonders großen Energieaufwand am Boden entlang zu rollen. Unter dem Einzelregal 1 ist ein Transportroboter 4 zu sehen, der elektrisch angetrieben wird und eine Steuerungseinheit aufweist, die durch einen Steuerrechner des in Figur 2 dargestellten Kommissioniersystems 5 gesteuert wird. Solche Transportroboter 4 werden beispielsweise von der Firma Kiva oder Swisslog verkauft, wobei der Transportroboter 4 besondere erfindungsgemäße Merkmale aufweist. Figure 1 shows a single shelf 1 of a shelf warehouse, which consists of a plurality of such side by side and one behind the other arranged shelves 1 and is provided for storing items 2. The individual shelf 1 has rollers 3 on the feet of the individual shelf 1 in order to roll the individual shelf 1 along the floor without a particularly large amount of energy. Under the single shelf 1, a transport robot 4 can be seen, which is electrically driven and has a control unit which is controlled by a control computer of the in Figure 2 order picking system 5 is controlled. Such transport robots 4 are sold, for example, by the company Kiva or Swisslog, the transport robot 4 having special features according to the invention.

Der Transportroboter 4 hebt das Einzelregal 1 nicht an, sondern rollte es mit seinen Rollen 3 entlang des Bodens, wodurch der Transportroboter 4 technisch einfach aufgebaut und weniger Energie verbraucht, als wenn er jedes zu transportierende Einzelregal 1 vom Boden anheben müsste. Der Transportroboter 4 weist weiters einen Laserscanner 6 auf, der in einem Öffnungswinkel 7 befindliche Objekte scannt, um mögliche Kollisionen mit diesen Objekten zu vermeiden. Der Transportroboter 4 kann weitere Sensoren aufweisen, um die Navigation innerhalb des Kommissioniersystems 5 zu verbessern. Hierfür kann er ein Gyroskop zur Lagebestimmung des Transportroboters 4 aufweisen. Der Transportroboter 4 kann weiters einen Reflektordetektor zur Detektion von Reflektoren an Objekten, wie Lagerregalen oder Wänden, aufweisen. Der Transportroboter 4 kann weiters einen RFID-Reader zur Detektion von RFID-Tags an Objekten oder im Boden aufweisen. Durch diese RFID-Tags können Einzelregaltransportwege 8 gekennzeichnet sein, die für den Transport von Einzelregalen 1 durch Transportroboter 4 vorgesehen sind. Der Transportroboter 4 kann weiters einen Barcode-Scanner zur Detektion von Barcodes an Objekten oder Einzelregaltransportwegen 8 aufweisen. Der Transportroboter 4 kann weiters ein Indoor-GPS zur Positionsbestimmung aufweisen oder ein WLAN-Netzwerk in dem Regallager zur WLAN-Triangulation verwenden. Der Transportroboter 4 kann weiters Odometrie zur Detektion der Lageveränderung anhand von Radumdrehungen des Transportroboters 4 anwenden. All diese Sensoren ermöglichen dem Transportrobotern 4 des Kommissioniersystems 5 Einzelregale 1 zwischen dem Regallager und Kommissionierplätzen 9 ohne Kollisionen mit Objekten oder Personen zu transportieren. Der Transportroboter 4 verfügt weiters über ein Not-Halt-Sicherheitssystem, das den Transportroboter 4 immer anhält, wenn ein Objekt oder eine Person unerwartet in einem Sicherheitsbereich um den Transportroboter 4 detektiert wird. Der Sicherheitsbereich kann beispielsweise durch den Laserscanner 6 überwacht werden und einen Bereich von 50 Zentimetern vor dem Transportroboter 4 in Transportrichtung umfassen. Der Sicherheitsbereich könnte aber auch nur 30 Zentimeter oder einen Meter groß sein. Hierdurch ist sichergestellt, dass es zu keinen Kollisionen kommen kann.The transport robot 4 does not lift the individual shelf 1, but rather rolls it with its rollers 3 along the floor, which makes the transport robot 4 technically simple and uses less energy than if it had to lift each individual shelf 1 to be transported from the floor. The transport robot 4 also has a laser scanner 6, which scans objects located at an opening angle 7 in order to avoid possible collisions with these objects. The transport robot 4 can have further sensors in order to improve the navigation within the order-picking system 5. For this purpose, it can have a gyroscope for determining the position of the transport robot 4. The transport robot 4 can also have a reflector detector for the detection of reflectors on objects such as storage shelves or walls. The transport robot 4 can also have an RFID reader for detecting RFID tags on objects or in the floor. These RFID tags can be used to identify individual rack transport routes 8 which are provided for the transport of individual shelves 1 by transport robots 4. The transport robot 4 can furthermore have a barcode scanner for the detection of barcodes on objects or individual rack transport routes 8. The transport robot 4 can furthermore have an indoor GPS for determining the position or use a WLAN network in the rack store for WLAN triangulation. The transport robot 4 can also use odometry to detect the change in position based on wheel revolutions of the transport robot 4. All these sensors enable the transport robot 4 of the order-picking system 5 to transport individual shelves 1 between the rack store and order-picking stations 9 without collisions with objects or people. The transport robot 4 also has an emergency stop safety system which always stops the transport robot 4 when an object or a person is unexpectedly detected in a safety area around the transport robot 4. The security area can be monitored, for example, by the laser scanner 6 and can encompass an area of 50 centimeters in front of the transport robot 4 in the transport direction. The security area could also be only 30 centimeters or one meter in size. This ensures that there can be no collisions.

Der Transportroboter 4 ist nunmehr weiters dazu ausgebildet in einem Lernmodus die Position und Ausdehnung von Objekten entlang der Einzelregaltransportwege 8 durch Vermessen mit dem Laserscanner 6 und Speichern der Vermessungsergebnisse zu lernen. Hierfür wird der Transportroboter 4 von einer Bedienperson manuell entlang den Einzelregaltransportwegen bewegt, wobei der Laserscanner 6 Positionsinformationen ermittelt, wie diese beispielhaft in Figur 3 dargestellt sind. Jeder Punkt in der Draufsicht auf einen Teil des Kommissioniersystems 5 zeigt die von dem Laserscanner 6 ermittelten Positionsinformationen. Hierbei sind Wände und andere Objekte zu sehen. Sollten in dem Lernmodus Objekte von dem Laserscanner 6 vermessen worden sein, die nicht dauerhaft in dem Kommissioniersystem 5 vorhanden sind, wie beispielsweise Beine der Bedienperson, dann kann man diese Positionsinformation an einem Computer des Steuerrechners des Kommissioniersystems 5 wieder löschen. Die korrigierten Positionsinformationen, die ein Abbild des Layouts des Kommissioniersystems 5 und hierbei insbesondere das Umfeld der Einzelregaltransportwege 8 wiedergeben, wird anschließend von dem Steuerrechner des Kommissioniersystems 5 an die in den Transportrobotern 4 vorgesehenen Steuerungseinheiten übermittelt. Hierdurch ist der Vorteil erhalten, dass jeder Transportroboter 4 genaue Positionsinformationen für den Transport von Einzelregalen entlang Einzelregaltransportwegen 8 zwischen dem Regallager und den Kommissionierplätzen 9 zur Verfügung hat.The transport robot 4 is now further configured in a learning mode to learn the position and extent of objects along the individual rack transport routes 8 by measuring with the laser scanner 6 and storing the measurement results. For this purpose, the transport robot 4 is manually moved by an operator along the individual rack transport routes, the laser scanner 6 determining position information, as is exemplified in FIG Figure 3 are shown. Each point in the top view of a part of the order-picking system 5 shows the position information determined by the laser scanner 6. Here you can see walls and other objects. If, in the learning mode, objects have been measured by the laser scanner 6 that are not permanently present in the order-picking system 5, such as legs of the operator, this position information can be deleted again on a computer of the control computer of the order-picking system 5. The corrected position information that a The control computer of the order-picking system 5 then transmits an image of the layout of the order-picking system 5 and, in particular, the surroundings of the individual rack transport routes 8 to the control units provided in the transport robots 4. This has the advantage that each transport robot 4 has precise position information available for the transport of individual shelves along individual rack transport routes 8 between the rack warehouse and the picking stations 9.

Figur 2 zeigt nunmehr mehrere Kommissionierplätze 9 des Kommissioniersystems 5 mit Einzelregalen 1 in einer Schrägansicht. Die Einzelregale 1 wurden von Transportrobotern 4 aus einem Regallager über Einzelregaltransportwege 8 zu den Kommissionierplätzen 9 transportiert. An den Kommissionierplätzen 9 ist weiters eine Hängefördertechnik 10 zum Abtransport von Fördertaschen 11 vorgesehen. An jedem Kommissionierplatz 9 steht eine Kommissionierperson 12, die an einem Computer 13 des Steuerrechners angezeigt erhält welche Anzahl welches Artikels 2 in dem Einzelregal 1 aus dem Einzelregal 1 entnommen und in eine oder mehrere Fördertaschen 11 kommissioniert werden soll. Hierbei ist der Steuerrechner auch dazu ausgebildet eine Batchkommissionierung durchzuführen, um Artikel 2 mehrerer Aufträge vorerst in nur eine Fördertasche 11 zu kommissionieren. Die Artikel 2 werden dann an einer nachgelagerten Sortier- und Packstation den einzelnen Aufträgen zugeordnet in Auftragsbehälter gelegt und versandt. Figure 2 now shows several picking stations 9 of the picking system 5 with individual shelves 1 in an oblique view. The individual shelves 1 were transported by transport robots 4 from a shelf warehouse via individual shelf transport routes 8 to the picking stations 9. At the order picking stations 9, a overhead conveyor technology 10 is also provided for the removal of conveyor bags 11. At each picking station 9 there is a picking person 12 who is shown on a computer 13 of the control computer which number of which article 2 in the single rack 1 is to be removed from the single rack 1 and picked in one or more conveyor bags 11. In this case, the control computer is also designed to carry out batch picking in order to initially pick articles 2 of several orders into only one conveyor bag 11. The articles 2 are then assigned to the individual orders at a downstream sorting and packing station, placed in order containers and dispatched.

Durch das Vorsehen der Transportroboter 4, um ganze Einzelregale 1 aus dem Regallager zu holen, in Kombination mit der Batchkommissionierung in Behälter und insbesondere in Fördertaschen 11 ist der Vorteil erhalten, dass besonders wenige Transporte zwischen dem Regallager und dem Kommissionierplatz 9 erfolgen müssen. Auf eine klassische Lagerbehälterfördertechnik kann gänzlich verzichtet werden, wodurch Kosten gespart und eine hohe Flexibilität erreicht wird. Dies insbesondere deshalb, weil jederzeit recht einfach neue oder veränderte Einzelregaltransportwege 8 festgelegt werden können. Durch eine besondere Führung der Hängefördertechnik 10 und der Einzelregaltransportwege 8 ist erreicht, dass Einzelregaltransportwege 8 abschnittsweise unter der Hängefördertechnik 10 geführt werden, wodurch der Platz in dem Kommissioniersystem 5 besonders platzsparend ausgenutzt wird. Wie anhand von Figur 2 ersichtlich sind auch die Kommissionierplätze 9 untereinander mit Einzelregaltransportwegen 8 verbunden, wodurch Einzelregale 1 auch direkt von einem Kommissionierplatz 9 zu einem anderen Kommissionierplatz 9 transportiert werden können, wenn ein Artikel 2 aus dem Einzelregal 1 dort zum Kommissionieren benötigt werden. Hierdurch kann die Kommissionierung besonders effizient und zeitsparend durchgeführt werden.The provision of the transport robots 4 in order to get entire individual racks 1 from the rack store, in combination with batch picking in containers and in particular in conveyor bags 11, has the advantage that particularly few transports between the rack store and the picking station 9 have to take place. Classic storage container conveyor technology can be dispensed with entirely, which saves costs and achieves a high degree of flexibility. This is particularly so because new or modified individual rack transport routes 8 can be determined quite easily at any time. A special guidance of the overhead conveyor technology 10 and the individual rack transport routes 8 ensures that individual rack transport routes 8 are guided in sections under the overhead conveyor technology 10, whereby the space in the order-picking system 5 is used in a particularly space-saving manner. As with Figure 2 it can also be seen that the order picking stations 9 are connected to one another with individual rack transport routes 8, whereby individual bookshelves 1 also go directly from one order picking station 9 to another order picking station 9 can be transported if an article 2 from the single shelf 1 is needed there for picking. This enables picking to be carried out particularly efficiently and in a time-saving manner.

Figur 4 zeigt ein Kommissioniersystem 14 gemäß einem weiteren Ausführungsbeispiel der Erfindung, wobei im Vergleich zu dem Kommissioniersystem 5 gemäß Figur 2 zusätzlich an jeden Kommissionierplatz 15 Bandförderer 16 zum Zu- und Abtransport von Auftragsbehälterkisten 17 mit kommissionierten Artikeln 2 vorgesehen sind. Hierdurch ist der Vorteil erhalten, dass an den Kommissionierplätzen 15 parallel oder auch aufeinanderfolgend sowohl in Fördertaschen 11 als auch in Auftragsbehälterkisten 17 kommissioniert werden kann. Hierdurch sind eine Batchkommissionierung und eine Auftragskommissionierung parallel in Fördertaschen 11 und/oder Auftragsbehälterkisten 17 durchführbar. Figure 4 shows a picking system 14 according to a further exemplary embodiment of the invention, whereby in comparison to the picking system 5 according to Figure 2 in addition to each picking station 15, belt conveyors 16 for the delivery and removal of order container crates 17 with picked articles 2 are provided. This has the advantage that the picking stations 15 can be picked in parallel or in succession both in conveyor bags 11 and in order container crates 17. As a result, batch picking and order picking can be carried out in parallel in conveyor bags 11 and / or order container boxes 17.

Es kann erwähnt werden, dass der Transportroboter auch autonom und nicht unmittelbar vom Steuerrechner gesteuert im Kommissioniersystem Einzelregale transportieren könnte. In diesem Fäll würde der Steuerroboter an den Transportroboter beispielsweise nur eine Liste von Einzelregalen und Kommissionierplätzen übermitteln, zu denen die Einzelregale transportiert werden sollen. Der Transportroboter könnte dann autonom die hierfür nötigen Transporte planen und durchführen.It can be mentioned that the transport robot could also transport individual shelves autonomously and not directly controlled by the control computer in the picking system. In this case, the control robot would only transmit a list of individual shelves and picking stations to the transport robot, to which the individual shelves are to be transported. The transport robot could then plan and carry out the necessary transports autonomously.

Gemäß eines weiteren Ausführungsbeispiels der Erfindung weisen die Einzelregale keine Rollen an den Füßen auf, weshalb die Transportroboter eine Anhebetechnik aufweisen, um Einzelregale geringfügig vom Boden abzuheben und danach erst zu transportieren. Gemäß diesem Ausführungsbeispiel ist sichergestellt, dass die Einzelregale immer zuverlässig an ihrer Position stehen.According to a further exemplary embodiment of the invention, the individual shelves have no rollers on the feet, which is why the transport robots have lifting technology in order to lift individual shelves slightly off the floor and only then to transport them. This exemplary embodiment ensures that the individual shelves are always reliably in their position.

Gemäß einem weiteren in den Figuren nicht dargestellten Ausführungsbeispiel der Erfindung ist das Kommissioniersystem und das Kommissionierverfahren zum Vorkommissionieren von Artikel in einen oder mehrere Transportwagen ausgebildet. Gemäß den vorstehend erläuterten Ausführungsbeispielen werden ja die zu kommissionierende Artikel enthaltende Einzelregale zu dem Kommissionierplatz transportiert, was gemäß diesem Ausführungsbeispiel nicht erfolgen muss, da mit dem Transportwagen nur jene Artikel transportiert werden, die tatsächlich am Kommissionierplatz kommissioniert werden sollen. Transportwagen weisen einen Bereich auf, in den Artikel gelegt und hierbei vorkommissioniert oder batch-kommissioniert werden können. Besonders vorteilhaft sind dem Fachmann an sich bekannte Federbodenwagen als Transportwagen verwendbar, bei denen Artikel auf einen durch eine Feder nach oben gedrückten Boden gelegt werden, wie dies in Figur 5 zu sehen ist. Der Boden senkt sich ab, wenn mehrere oder schwerere Artikel in den Federbodenwagen gelegt wurden, wodurch weitere Artikel ergonomisch vorteilhaft ohne hinunterbücken auf die bereits im Federbodenwagen befindlichen Artikeln gelegt werden können. Hierdurch kann das Volumen der mit dem Transportwagen transportierten Artikel wesentlich erhöht werden. Die Transportwagen weisen selber keinen Antrieb auf, können aber von einem Transportroboter unterfahren werden, der dann den Transportwagen entlang der Einzelregaltransportwege transportieren kann.According to a further exemplary embodiment of the invention, not shown in the figures, the order-picking system and the order-picking method are designed for pre-commissioning articles into one or more transport trolleys. According to the exemplary embodiments explained above, the individual shelves containing articles to be picked are transported to the picking station, which does not have to be done according to this exemplary embodiment, since only those articles which are actually to be picked at the picking station are transported with the transport trolley. Dolly have an area can be placed in the article and pre-picked or batch picked. Spring-loaded trolleys known per se to the person skilled in the art can be used particularly advantageously as transport trolleys in which articles are placed on a floor pushed up by a spring, as shown in Figure 5 you can see. The floor lowers when several or heavier articles have been placed in the spring-loaded trolley, which means that additional articles can be placed ergonomically without bending down on the articles already in the spring-loaded trolley. As a result, the volume of the articles transported by the trolley can be increased significantly. The transport trolleys themselves have no drive, but can be driven under by a transport robot, which can then transport the transport trolley along the individual rack transport routes.

Der Steuerrechner ist dazu ausgebildet einen leeren Transportwagen oder einen bereits vorkommissionierte Artikel enthaltenen Transportwagen zu jenen Regallagerplätzen in dem Regallager zu transportieren, in denen zu kommissionierende Artikel gelagert werden. Als Steuerrechner ist hierbei sowohl der das gesamte Regallager samt Kommissionierplätzen steuernde Rechner als auch die in den einzelnen Transportwagen vorgesehenen Rechner zu verstehen. Das Vorkommissionieren dieser Artikel von dem Regallagerplatz in den Transportwagen kann manuell durch einen Kommissionierer oder auch maschinell durch einen Roboterarm erfolgen. Der Roboterarm könnte auf dem Transportroboter, dem Transportwagen oder an einer anderen Stelle des Regallagers angeordnet sein. Der die vorkommissionierten Artikel enthaltende Transportwagen wird mit einem Transportroboter, gesteuert durch den Steuerrechner, zu jenem Kommissionierplatz transportiert, an dem die in dem Transportwagen befindlichen vorkommissionierten Artikel in Auftragsbehälter und/oder Fördertaschen kommissioniert werden sollen. Artikel für einen Kommissionierauftrag können von einem oder mehreren Transportwagen zu dem Kommissionierplatz transportiert werden. Ein Transportwagen kann auch Artikel für zwei oder mehr Kommissionierplätze vorkommissionieren, weshalb der Transportwagen nach Entnahme der an einem Kommissionierplatz vom Kommissionierer entnommenen Artikel zu dem anderen Kommissionierplatz transportiert wird. Nach dem Entnehmen aller vorkommissionierten Artikel aus dem Transportwagen und dem Kommissionieren der Artikel an dem Kommissionierplatz können die leeren Transportwagen für weitere Vorkommissionieraufträge verwendet werden.The control computer is designed to transport an empty transport trolley or a transport trolley already containing pre-picked articles to the rack storage locations in the rack warehouse in which articles to be picked are stored. In this context, the control computer is to be understood as the computer controlling the entire shelf warehouse including the picking stations as well as the computer provided in the individual transport trolleys. The pre-commissioning of these articles from the shelf storage space into the transport trolley can be done manually by an order picker or mechanically by a robot arm. The robot arm could be arranged on the transport robot, the transport trolley or at another location on the rack storage. The transport trolley containing the pre-picked articles is transported by a transport robot, controlled by the control computer, to the picking station at which the pre-picked articles in the transport trolley are to be picked into order containers and / or conveyor bags. Articles for a picking order can be transported from one or more transport trolleys to the picking station. A transport trolley can also pre-pick articles for two or more picking stations, which is why the transport trolley is transported to the other picking station after the articles removed from the picking station at one picking station. After removing all pre-picked articles from the transport trolley and picking the articles at the picking station, the empty transport trolleys can be used for further pre-commissioning orders.

Der Einsatz von Transportwagen hat den Vorteil, dass nicht das gesamte Einzelregal zu dem Kommissionierplatz transportiert werden muss, was für den Transportroboter eine erhebliche Last und Energieaufwand darstellt. Weiters ist der Vorteil gegeben, dass wenn eine Art von Artikel für mehrere Kommissionieraufträge an mehreren Kommissionierplätzen mehr oder weniger gleichzeitig zum Kommissionieren benötigt wird, diese Aufgabe von mehreren Transportwagen parallel erledigt werden kann und nicht an einem Kommissionierplatz darauf gewartete werden muss, bis das Einzelregal mit diesem Artikel an einem anderen Kommissionierplatz nicht mehr benötigt wird. Hierdurch kann der Durchsatz an Kommissionieraufträgen wesentlich gesteigert werden.The use of transport trolleys has the advantage that the entire individual rack does not have to be transported to the picking station, which represents a considerable load and energy expenditure for the transport robot. There is also the advantage that if a type of article is required for several picking orders at several picking stations more or less at the same time for picking, this task can be carried out in parallel by several transport trolleys and does not have to be waited for at a picking station until the individual shelf is ready this item is no longer required at another picking station. This can significantly increase the throughput of picking orders.

Claims (13)

  1. An order-picking system (5; 14) for picking articles (2) stored in a racking into conveyor pockets (11) having
    a plurality of racking spaces of the racking that are arranged in racking rows and/or racking levels for storing the articles (2) and having
    a suspended conveyor technique (10) for transporting conveyor pockets (11) and having a picking station (9; 15) according to the good-to-person principle, at which a number of articles (2) predetermined by a controlling computer may be picked into conveyor pockets,
    characterized in that
    the racking is configured modular in the form of independent individual racks (1), and that there is provided at least one transport robot (4) controlled by the controlling computer or being autonomous, which is configured to move underneath an individual rack (1) and/or a transport trolley and to transport the individual rack (1) and/or the transport trolley to the picking station (9; 15), if at least one article (2) stored in the individual rack (1) and/or one article (2) pre-picked from the racking into the transport trolley is to be picked at the picking station into a conveyor pocket (11), wherein there are provided at least two picking stations (9; 15), and that there is provided an individual rack transport path (8) between the two picking stations (9; 15) in order to transport the individual rack (1) and/or the transport trolley using the transport robot (4) from the one picking station (9; 15) to the second picking station (9; 15).
  2. An order-picking system (5; 14) according to claim 1, characterized in that the transport trolley is formed by a spring-bottom vehicle.
  3. An order-picking system (5; 14) according to any of claims 1 or 2, characterized in that there are provided individual rack transport paths (8), which enable a transport of any individual rack (1) and/or transport trolley of the racking using the transport robot (4) from the racking to the at least one picking station (9; 15).
  4. An order-picking system (5; 14) according to claim 3, characterized in that the individual rack transport paths (8) are provided at least in some sections underneath the suspended conveyor technique (10).
  5. An order-picking system (14) according to any of the preceding claims, characterized in that there is provided an order container conveyor technique (16) for transporting order containers (17) to the at least one picking station (15) and that the controlling computer is configured to predetermine the number of articles (2), which are to be picked into the order container (17) and into the conveyor pockets (11).
  6. An order-picking system (5; 14) according to any of the preceding claims, characterized in that the transport robot (4) has a control unit having a laser scanner (6) in order to detect objects and prevent collisions with these objects.
  7. An order-picking system (5; 14) according to claim 6, characterized in that the control unit may learn in a learning modus the position and the dimension of objects along individual rack transport paths (8) by measuring using the laser scanner (6) and by storing the measurement results.
  8. An order-picking system (5; 14) according to any of claims 6 to 7, characterized in that the transport robot (4) has one or several of the following sensors for improved navigation: gyroscope for the determination of position; reflector detector for the detection of reflectors at objects; RFID reader for the detection of RFID tags at objects or individual rack transport paths; barcode scanner for the detection of barcodes at objects or individual rack transport paths; indoor GPS; WLAN triangulation; odometry for the detection of the change of position by way of wheel revolutions.
  9. An order-picking system (5; 14) according to any of claims 6 to 8, characterized in that the transport robot (4) has an emergency stop safety system, which will stop the transport robot (4) if there is unexpectedly detected an object or a person in a safety area around the transport robot (4).
  10. An order-picking method for picking articles (2) stored in a racking into conveyor pockets (11) using a controlling computer for handling picking orders, which provides the picking at the at least one picking station (9; 15) according to the following method steps:
    Transport of an article (2) required for a picking order from the racking to the picking station (9; 15);
    Picking the number of articles (2) required for the picking order into the conveyor pockets (11) assigned to the at least one picking order at the picking station (9; 15);
    characterized in that
    the transport of the article (2) required for the picking order is carried out such that an individual rack (1) of the racking, in which the article (2) is being stored, and/or a transport trolley, into which the article (2) from the racking has been pre-picked, is transported using a transport robot (4) from the racking to the picking station (9; 15) and that the number of articles (2) required for the picking order is picked from the individual rack (1) and/or the transport trolley into conveyor pockets (11), wherein
    a transport of articles (2) required for the picking order that are stored in the individual rack and/or the transport trolley is carried out between at least two picking stations (9; 15) on an individual rack transport path (8) between the two picking stations (9; 15).
  11. An order-picking method according to claim 10, characterized in that the transport robot (4) is moved manually or moves, respectively, along individual rack transport paths (8) in a learning modus, wherein a sensor, in particular a laser scanner (6), measures and stores the position and dimension of objects along the individual rack transport paths (8) in order to detect these during subsequent transport runs on the individual rack transport path (8) for direction control.
  12. An order-picking method according to any of claims 10 or 11, characterized in that empty transport trolleys are transported by a transport robot for pre-picking articles (2) to be picked at the picking station to the racking, in which the article (2) to be picked is being stored.
  13. An order-picking method according to claim 12, characterized in that a transport trolley containing already at least one article (2) to be picked is transported by the transport robot to the at least one further individual rack in order to pre-pick there a further article to be picked into the transport trolley.
EP17733342.4A 2016-06-14 2017-06-13 Order-picking system with a transport robot for passing beneath individual racks and transport trolley Active EP3468898B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATGM50103/2016U AT15289U1 (en) 2016-06-14 2016-06-14 Picking system with a transport robot for driving under individual shelves
PCT/AT2017/060151 WO2017214652A1 (en) 2016-06-14 2017-06-13 Order-picking system with a transport robot for passing beneath individual racks and transport trolley

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EP3468898A1 EP3468898A1 (en) 2019-04-17
EP3468898B1 true EP3468898B1 (en) 2020-05-13

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EP (1) EP3468898B1 (en)
AT (1) AT15289U1 (en)
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WO (1) WO2017214652A1 (en)

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AT15289U1 (en) 2017-05-15
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US20190177086A1 (en) 2019-06-13
EP3468898A1 (en) 2019-04-17

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